The Computer Simulation and Real-Time Stabilization Control for the Inverted Pendulum System Based on LQR

2009 ◽  
Author(s):  
Hu Lingyan ◽  
Liu Guoping ◽  
Liu Xiaoping ◽  
Zhang Hua
Keyword(s):  
Computer Simulation ◽  
Real Time ◽  
Inverted Pendulum ◽  
Pendulum System ◽  
Stabilization Control ◽  
Inverted Pendulum System

scholarly journals The real-time network control of the inverted pendulum system based on Siemens hardware

2013 ◽  
Vol 17 (1) ◽  
pp. 83
Author(s):  
Andrzej Turnau ◽  
Dariusz Marchewka ◽  
Maciej Rosół ◽  
Krzysztof Kołek ◽  
Przemysław Gorczyca ◽  
...  
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Network Control ◽  
Pendulum System ◽  
The Real ◽  
Inverted Pendulum System

scholarly journals Nonlinear/Linear Switched Control of Inverted Pendulum System: Stability Analysis and Real-Time Implementation

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Amira Tiga ◽  
Chekib Ghorbel ◽  
Naceur Benhadj Braiek
Keyword(s):  
Stability Analysis ◽  
Real Time ◽  
State Feedback ◽  
Inverted Pendulum ◽  
System Stability ◽  
Control Synthesis ◽  
Vertical Position ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Linear State

This paper treats the problems of stability analysis and control synthesis of the switched inverted pendulum system with nonlinear/linear controllers. The proposed control strategy consists of switching between backstepping and linear state feedback controllers on swing-up and stabilization zones, respectively. First, the backstepping controller is implemented to guarantee the rapid convergence of the pendulum to the desired rod angle from the vertical position. Next, the state feedback is employed to stabilize and maintain the system on the upright position inherently unstable. Based on the quadratic Lyapunov approach, the switching between the two zones is analyzed in order to determine a sufficient domain in which the stability of the desired equilibrium point is justified. A real-time experimentation shows a reduction of 84% of the samples below the classical scheme when using only the backstepping control in the entire operating region. Furthermore, the reduction percentage has become 92% in comparison with the composite linear/linear controller.

scholarly journals Heuristic Global Optimization of an Adaptive Fuzzy Controller for the Inverted Pendulum System: Experimental Comparison

2020 ◽  
Vol 10 (18) ◽  
pp. 6158
Author(s):  
Miguel Llama ◽  
Alejandro Flores ◽  
Ramon Garcia-Hernandez ◽  
Victor Santibañez
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Parameter Tuning ◽  
Lyapunov Theory ◽  
Experimental Comparison ◽  
Pendulum System ◽  
Adaptive Fuzzy Controller ◽  
Adaptive Fuzzy ◽  
Inverted Pendulum System

In this paper an adaptive fuzzy controller is proposed to solve the trajectory tracking problem of the inverted pendulum on a cart system. The designed algorithm is featured by not using any knowledge of the dynamic model and incorporating a full-state feedback. The stability of the closed-loop system is proven via the Lyapunov theory, and boundedness of the solutions is guaranteed. The proposed controller is heuristically tuned and its performance is tested via simulation and real-time experimentation. For this reason, a tuning method is investigated via evolutionary algorithms: particle swarm optimization, firefly algorithm and differential evolution in order to optimize the performance and verify which technique produces better results. First, a model-based simulation is carried out to improve the parameter tuning of the fuzzy systems, and then the results are transferred to real-time experiments. The optimization procedure is presented as well as the experimental results, which are also discussed.

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